期刊名称：Lecture Notes in Engineering and Computer Science
印刷版ISSN：2078-0958
电子版ISSN：2078-0966
出版年度：2018
卷号：2235&2236
页码：75-80
出版社：Newswood and International Association of Engineers
摘要：The path planning problem finds a collision free
path for an object from its start position to its goal position
while avoiding obstacles and self-collisions. Many methods
have been proposed to solve this problem but they are not
optimization based. Most of the existing methods find feasible
paths but the objective of this current research is to find
optimal paths in respect of time, distance covered and safety of
the robot. This paper introduces a novel optimization-based
method that finds the shortest distance in the shortest time. It
uses particle swarm optimization (PSO) algorithm as the base
optimization algorithm and a customized algorithm which
generates the coordinates of the search space. We
experimentally show that the distance covered and the
generated points are not affected by the sample size of
generated points, hence, we can use a small sample size with
minimum time and get optimal results, emphasizing the fact
that with little time, optimal paths can be generated in any
known environment.
